相关论文: Vision-based DRL Autonomous Driving Agent with Sim…
Reinforcement learning (RL) has shown promise in robotics, but deploying RL on real vehicles remains challenging due to the complexity of vehicle dynamics and the mismatch between simulation and reality. Factors such as tire…
Simulation-based design, optimization, and validation of autonomous vehicles have proven to be crucial for their improvement over the years. Nevertheless, the ultimate measure of effectiveness is their successful transition from simulation…
Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…
We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…
Deep Reinforcement Learning (DRL) has become increasingly powerful in recent years, with notable achievements such as Deepmind's AlphaGo. It has been successfully deployed in commercial vehicles like Mobileye's path planning system.…
Combining data-driven applications with control systems plays a key role in recent Autonomous Car research. This thesis offers a structured review of the latest literature on Deep Reinforcement Learning (DRL) within the realm of autonomous…
Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more…
Academic research in the field of autonomous vehicles has reached high popularity in recent years related to several topics as sensor technologies, V2X communications, safety, security, decision making, control, and even legal and…
Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions…
Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…
Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to…
With the growing need to reduce energy consumption and greenhouse gas emissions, Eco-driving strategies provide a significant opportunity for additional fuel savings on top of other technological solutions being pursued in the…
New forms of on-demand transportation such as ride-hailing and connected autonomous vehicles are proliferating, yet are a challenging use case for electric vehicles (EV). This paper explores the feasibility of using deep reinforcement…
This paper establishes directionality reinforcement learning (DRL) technique to propose the complete decentralized multi-agent reinforcement learning method which can achieve cooperation based on each agent's learning: no communication and…
Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…
Machine learning techniques have outperformed numerous rule-based methods for decision-making in autonomous vehicles. Despite recent efforts, lane changing remains a major challenge, due to the complex driving scenarios and changeable…
With the advent of universal function approximators in the domain of reinforcement learning, the number of practical applications leveraging deep reinforcement learning (DRL) has exploded. Decision-making in autonomous vehicles (AVs) has…
Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…